書誌事項
- タイトル別名
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- Control of a Three-joint Underactuated Manipulator by IDA-PBC Method
- IDA PBCホウ ニ ヨル 3 カンセツ レツ クドウ マニピュレータ ノ セイギョ
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We present an application of Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) method to an underactuated manipulator with the third joint unactuated which is subject to second-order nonholonomic constraints. We give a port-Hamiltonian representation of the manipulator system by selecting an appropriate set of generalized coordinates and applying a global input transformation. And we clarify the applicable conditions and design an inertia matrix and a potential energy function of the closed Hamiltonian system. Numerical experiments are given to show the validity of the derived controller.
収録刊行物
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- 計測自動制御学会論文集
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計測自動制御学会論文集 43 (9), 788-797, 2007
公益社団法人 計測自動制御学会
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詳細情報 詳細情報について
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- CRID
- 1390282679479721344
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- NII論文ID
- 10019952814
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- NII書誌ID
- AN00072392
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- ISSN
- 18838189
- 04534654
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- NDL書誌ID
- 8956727
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- データソース種別
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- JaLC
- NDL
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- 抄録ライセンスフラグ
- 使用不可